\documentclass{article}
\usepackage[x11names, rgb]{xcolor}
\usepackage[utf8]{inputenc}
\usepackage{tikz}
\usetikzlibrary{snakes,arrows,shapes}
\usepackage{amsmath}
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\usepackage[active,tightpage]{preview}
\PreviewEnvironment{tikzpicture}
\setlength\PreviewBorder{0pt}%
\usetikzlibrary{automata}%

\begin{document}
\pagestyle{empty}
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\enlargethispage{100cm}
% Start of code
\begin{tikzpicture}[>=latex',join=bevel,]
\tikzstyle{every state}=[draw=blue!50,very thick,fill=blue!20]%
\node (q0) at (218bp,546bp) [state] {$q_{0}$};
  \node (q9) at (90bp,370bp) [state] {$q_{9}$};
  \node (q8) at (390bp,194bp) [state] {$q_{8}$};
  \node (q7) at (230bp,18bp) [state] {$q_{7}$};
  \node (q6) at (308bp,18bp) [state] {$q_{6}$};
  \node (q4) at (462bp,194bp) [state] {$q_{4}$};
  \node (q2) at (507bp,370bp) [state] {$q_{2}$};
  \node (q5) at (301bp,106bp) [state] {$q_{5}$};
  \node (q3) at (462bp,282bp) [state] {$q_{3}$};
  \node (q1) at (218bp,458bp) [state] {$q_{1}$};
  \draw [->] (q9) ..controls (38bp,386bp) and (3bp,402bp)  .. (19bp,422bp) .. controls (40bp,446bp) and (129bp,454bp)  .. node[auto] {$customer#shippingRequest$} (q1);
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  \draw [->] (q0) ..controls (218bp,516bp) and (218bp,500bp)  .. node[auto] {$customer#shippingRequest$} (q1);
  \draw [->] (q6) ..controls (306bp,48bp) and (305bp,64bp)  .. node[auto] {$\overline{customer#shippingNotice}$} (q5);
  \draw [->] (q4) ..controls (413bp,167bp) and (363bp,140bp)  .. node[auto] {$\overline{customer#shippingNotice}$} (q5);
  \draw [->] (q2) ..controls (543bp,348bp) and (560bp,333bp)  .. (551bp,318bp) .. controls (539bp,300bp) and (518bp,291bp)  .. node[auto] {$\overline{customer#shippingNotice}$} (q3);
  \draw [->] (q5) ..controls (268bp,76bp) and (255bp,58bp)  .. node[auto] {$\tau$} (q7);
  \draw [->] (q5) ..controls (296bp,78bp) and (295bp,65bp)  .. (296bp,54bp) .. controls (297bp,51bp) and (298bp,48bp)  .. node[auto] {$\tau$} (q6);
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  \draw [->] (q3) ..controls (462bp,252bp) and (462bp,236bp)  .. node[auto] {$\tau$} (q4);
  \draw [->] (q1) ..controls (202bp,430bp) and (192bp,415bp)  .. (180bp,406bp) .. controls (164bp,393bp) and (143bp,384bp)  .. node[auto] {$\tau$} (q9);
  \draw [->] (q1) ..controls (282bp,451bp) and (350bp,441bp)  .. (404bp,422bp) .. controls (430bp,412bp) and (458bp,398bp)  .. node[auto] {$\tau$} (q2);
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\end{tikzpicture}
% End of code

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\end{document}
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